{"title":"A group-theoretic approach to the computation of symbolic part relations","authors":"F. Thomas, C. Torras","doi":"10.1109/56.9300","DOIUrl":null,"url":null,"abstract":"When a set of constraints is imposed on the degrees of freedom between several rigid bodies, finding the configuration or configurations that satisfy all these constraints is a matter of special interest. The problem is not new and has been discussed, not only in kinematics, but also more recently in the design of object-level robot programming languages. In this last domain, several languages have been developed, from different points of view, that are able to partially solve the problem. A more general method is derived than those previously proposed that were based on the symbolic manipulation of chains of matrix products, using the theory of continuous groups. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"26 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1988-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"62","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE J. Robotics Autom.","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/56.9300","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 62
Abstract
When a set of constraints is imposed on the degrees of freedom between several rigid bodies, finding the configuration or configurations that satisfy all these constraints is a matter of special interest. The problem is not new and has been discussed, not only in kinematics, but also more recently in the design of object-level robot programming languages. In this last domain, several languages have been developed, from different points of view, that are able to partially solve the problem. A more general method is derived than those previously proposed that were based on the symbolic manipulation of chains of matrix products, using the theory of continuous groups. >
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